Configuration and Setup¶
We have assumed that the radio, accelerometer and compass calibrations have been completed prior to this step. If not, follow the instructions here to do that before proceeding.
Motor and ESC configuration¶
Balance Bots use skid steering by default. The motor drive/ESC configuration have to done based on the components you have used. Follow the instructions here to configure it.
The following parameters need to be set correctly for your balance bot to function properly. The parameters can be accessed from Mission planner -> Config/Tuning-> Full Parameter List. After making the changes click on ‘Write Params’ to save your changes.
- SERVO1_FUNCTION = 73 (Throttle left)
- SERVO3_FUNCTION = 74 (Throttle right)
- FRAME_CLASS = 3 (Balance Bot)
- SCHED_LOOP_RATE = 200 (Scheduler loop frequency)
- MOT_SLEWRATE = 0 (Do not account for motor slew)
- FS_CRASH_CHECK = 1 (Enable Crash Checks)
Many motors and ESCs have a dead zone. That is the zone between the zero throttle value and the throttle value where the motor actually starts rotating. A large dead zone can bring down balancing performance.
Remove wheels before proceeding
To fix the dead zone, open the motor test window in Mission Planner, as mentioned here. Find the minimum throttle value at which both motors turn on and set the parameter MOT_THR_MIN to that value. Now your motors should start at 1% throttle.